demo

README.md

@@ -1,2 +1,87 @@
 # DMP-ICM20948
 
+```c
+// app.cpp
+
+extern SPI_HandleTypeDef hspi1;
+
+
+void app(){
+
+	DMP_ICM20948 icm;
+	DMP_ICM20948Settings icmSettings =
+	{
+	  .i2c_speed = 400000,                // i2c clock speed
+	  .is_SPI = false,                    // Enable SPI, if disable use i2c
+	  .cs_pin = 10,                       // SPI chip select pin
+	  .spi_speed = 7000000,               // SPI clock speed in Hz, max speed is 7MHz
+	  .mode = 1,                          // 0 = low power mode, 1 = high performance mode
+	  .enable_gyroscope = true,           // Enables gyroscope output
+	  .enable_accelerometer = true,       // Enables accelerometer output
+	  .enable_magnetometer = true,        // Enables magnetometer output // Enables quaternion output
+	  .enable_gravity = true,             // Enables gravity vector output
+	  .enable_linearAcceleration = true,  // Enables linear acceleration output
+	  .enable_quaternion6 = true,         // Enables quaternion 6DOF output
+	  .enable_quaternion9 = true,         // Enables quaternion 9DOF output
+	  .enable_har = true,                 // Enables activity recognition
+	  .enable_steps = true,               // Enables step counter
+	  .gyroscope_frequency = 1,           // Max frequency = 225, min frequency = 1
+	  .accelerometer_frequency = 1,       // Max frequency = 225, min frequency = 1
+	  .magnetometer_frequency = 1,        // Max frequency = 70, min frequency = 1
+	  .gravity_frequency = 1,             // Max frequency = 225, min frequency = 1
+	  .linearAcceleration_frequency = 1,  // Max frequency = 225, min frequency = 1
+	  .quaternion6_frequency = 50,        // Max frequency = 225, min frequency = 50
+	  .quaternion9_frequency = 50,        // Max frequency = 225, min frequency = 50
+	  .har_frequency = 50,                // Max frequency = 225, min frequency = 50
+	  .steps_frequency = 50               // Max frequency = 225, min frequency = 50
+
+	};
+
+	icm.init(icmSettings);
+
+	while(1){
+
+		    icm.task();
+		    //run_icm20948_accel_controller();
+		    //run_icm20948_gyro_controller();
+		    //run_icm20948_mag_controller();
+		    //run_icm20948_linearAccel_controller();
+		    //run_icm20948_grav_controller();
+		    run_icm20948_quat6_controller(&icm, true);
+		    //run_icm20948_quat9_controller(true);
+		    //run_icm20948_har_controller();
+		    //run_icm20948_steps_controller();
+		  HAL_Delay(100);
+	}
+
+}
+
+
+void run_icm20948_quat6_controller(DMP_ICM20948 *icm20948, uint8_t inEuler)
+{
+    float quat_w, quat_x, quat_y, quat_z;
+    float roll, pitch, yaw;
+    //char sensor_string_buff[128];
+    if (inEuler)
+    {
+        if (icm20948->euler6DataIsReady())
+        {
+            icm20948->readEuler6Data(&roll, &pitch, &yaw);
+            //sprintf(sensor_string_buff, "Euler6 roll, pitch, yaw(deg): [%f,%f,%f]", roll, pitch, yaw);
+            //Serial.println(sensor_string_buff);
+        }
+    }
+    else
+    {
+        if (icm20948->quat6DataIsReady())
+        {
+            icm20948->readQuat6Data(&quat_w, &quat_x, &quat_y, &quat_z);
+            //sprintf(sensor_string_buff, "Quat6 w, x, y, z (deg): [%f,%f,%f,%f]", quat_w, quat_x, quat_y, quat_z);
+            //Serial.println(sensor_string_buff);
+        }
+    }
+
+}
+
+
+```